An AGV for the doffing environment

Abstract

The present invention belongs to the technical field of textile equipment, and specifically discloses an AGV for a doffing environment, which includes a vehicle body, a driving system, a line-tracking system, and an obstacle avoidance system. The driving system is used to drive the vehicle body and reduce the vibration of the vehicle body. The line-tracking system is used to ensure that the vehicle body travels on the corresponding route. The obstacle avoidance system is used to prevent the vehicle body from touching obstacles. The AGV with the above structure can solve the problem that the existing AVG cannot be fully applicable to the narrow doffing environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of textile equipment, and particularly relates to an AGV for the doffing environment. Background Art

[0002] An AGV (Automated Guided Vehicle), also known as an automated guided transport vehicle or unmanned carrier vehicle in Chinese, is equipped with automatic guiding devices such as electromagnetic or optical ones, and can travel along a specified guiding path. It is a transport vehicle with safety protection and various transfer functions, and is a carrier vehicle that does not require a driver in industrial applications, with a rechargeable battery as its power source. Generally, its travel route and behavior can be controlled by a computer, or its travel route can be set using an electromagnetic track (electromagnetic path-following system). The electromagnetic track is adhered to the floor, and the unmanned carrier vehicle moves and operates according to the information brought by the electromagnetic track.

[0003] When an AGV is used in the doffing environment, since the doffing environment is relatively narrow and there are many obstacles, it is necessary to make certain adjustments to a common AVG to make it adapt to the doffing environment. Summary of the Invention

[0004] The purpose of the present invention is to provide an AGV for the doffing environment to solve the problem that the existing AVG cannot fully adapt to the narrow doffing environment.

[0005] To achieve the above purpose, the technical solution of the present invention is: an AGV for the doffing environment, including a vehicle body, a driving system, a line-tracking system, and an obstacle avoidance system. The driving system is used to drive the vehicle body and reduce the vibration of the vehicle body. The line-tracking system is used to ensure that the vehicle body travels on the corresponding route, and the obstacle avoidance system is used to prevent the vehicle body from touching obstacles.

[0006] The beneficial effects of this technical solution are as follows: ① The driving system can enable the vehicle body to flexibly travel in a narrow space and perform actions such as rotating in place, translating, going straight, and reversing. ② The driving system can shock-absorb the vehicle body, so that even on an uneven ground, the vehicle body will not have violent vibrations. ③ The line-tracking system and the obstacle avoidance system can enable the vehicle body to travel on the corresponding route and avoid obstacles.

[0007] Further, the driving system is two groups of suspension systems, and the two groups of suspension systems are respectively located on the front and rear sides of the vehicle body.

[0008] Further, the suspension system is an independent suspension. The suspension system is divided into an independent suspension system and a non-independent suspension system. The wheels of the non-independent suspension system are installed at both ends of an integral axle. When one wheel bounces, the other wheel also bounces accordingly, causing the entire body to vibrate or tilt. The axle of the independent suspension is divided into two sections, and each wheel is independently installed under the frame by a coil spring. When one wheel bounces, the other wheel is not affected, and the two wheels can move independently, improving the stability and comfort of the vehicle body.

[0009] Further, each group of the suspension system includes a suspension mounting plate, a swing arm hinge seat, and swing arms, independent support devices, independent support upper stop plates, and drive wheel systems, each provided in two groups. The suspension mounting plate is installed under the vehicle body to support the weight of the vehicle body. The swing arm hinge seat is fixed at the center of the suspension mounting plate. The two groups of independent support upper stop plates are fixed on both sides of the suspension mounting plate. The two groups of swing arms are respectively located on both sides of the swing arm hinge seat and are respectively hinged to the swing arm hinge seat. Between each group of the swing arms and the independent support upper stop plates is connected by an independent support device. The drive wheel system includes two wheels and two corresponding groups of drive parts. The two wheels are respectively located on both sides of the suspension mounting plate. An axle is fixed on each of the wheels. The two groups of drive parts are installed on the side edges of the two groups of swing arms. The swing arm can swing up and down under the action of an external force.

[0010] Further, a shock absorber is provided on the independent support device. The shock absorber can ensure that when the vehicle body is traveling on uneven ground, the wheels have sufficient adhesion and slow down the vibration of the vehicle body.

[0011] Further, the shock absorber is a shock spring, and the shock spring is sleeved on the independent support device.

[0012] Further, each group of the drive parts includes a servo motor and a reducer, and the servo motor is connected to the reducer.

[0013] Further, between the output end of the reducer and the axle is connected by a synchronous belt. The synchronous belt can achieve non-uniform diameter transmission between the reducer and the axle, making the entire structure of the suspension system more compact.

[0014] Further, the line tracking system includes two groups of magnetic navigation sensors, and the two groups of magnetic navigation sensors are respectively installed at the bottoms of the front and rear end faces of the vehicle body. The magnetic navigation sensor technology uses a test platform that combines the magnetic field characteristics of magnetic track nails to study magnetic signal detection and the relative movement between the vehicle and the magnetic track nails. The detection accuracy of the magnetic navigation sensor is relatively high, the anti-interference performance is also relatively good, and the cost is relatively low.

[0015] Further, the obstacle avoidance system includes two groups of photoelectric sensors, which are respectively installed on the tops of the front and rear end faces of the vehicle body. The basic principle of the photoelectric sensor is based on the photoelectric effect, converting the change of the measured quantity into the change of the optical signal, and then further converting the non-electrical signal into an electrical signal by means of the optoelectronic element. Description of the Drawings

[0016] Figure 1 Schematic structural diagram of an AGV for doffing environment according to the present invention;

[0017] Figure 2 is Figure 1 schematic structural diagram of the drive system in Detailed Description of the Invention

[0018] The following is further detailed through specific embodiments:

[0019] The reference numerals in the accompanying drawings of the specification include: vehicle body 1, drive system 2, suspension mounting plate 3, swing arm 4, swing arm hinge seat 5, independent support device 6, independent support upper stop plate 7, wheel 8, servo motor 9, speed reducer 10, photoelectric sensor 11.

[0020] The embodiment is basically as shown in the attached Figure 1-2 As shown: An AGV for doffing environment includes a vehicle body 1, a drive system 2, a line tracking system and an obstacle avoidance system. The drive system 2 is used to drive the vehicle body 1 and reduce the vibration of the vehicle body 1. The drive system 2 is two groups of independent suspension systems, and the two suspension systems are respectively located on the front and rear sides of the vehicle body 1. As Figure 2 shown, each suspension system includes a suspension mounting plate 3, a swing arm hinge seat 5, and swing arms 4, independent support devices 6, independent support upper stop plates 7 and drive wheel sets which are respectively provided in two groups. The suspension mounting plate 3 is installed under the vehicle body 1 to support the weight of the vehicle body 1; the swing arm hinge seat 5 is fixed at the center of the suspension mounting plate 3, and two groups of independent support upper stop plates 7 are fixed on both sides of the suspension mounting plate 3. The two swing arms 4 are respectively located on both sides of the swing arm hinge seat 5 and are respectively hinged to the swing arm hinge seat 5; each swing arm 4 and the independent support upper stop plate 7 are connected by an independent support device 6; the drive wheel set includes two wheels 8 and corresponding two groups of drive parts. In this embodiment, the wheels 8 are Mecanum omnidirectional wheels. The two wheels 8 are respectively located on both sides of the suspension mounting plate 3. An axle is fixed on each wheel 8, and the drive part is installed on the side edges of the two swing arms 4. A shock absorber is provided on the independent support device 6. In this embodiment, the shock absorber is a shock absorber spring, and the shock absorber spring is sleeved on the independent support device 6. Each drive part includes a servo motor 9 and a speed reducer 10. The servo motor 9 is connected to the speed reducer 10, and the output end of the speed reducer 10 is connected to the axle through a synchronous belt. The synchronous belt can realize the non-uniform diameter transmission between the speed reducer 10 and the axle, so that the whole structure of the suspension system is more compact.

[0021] The line-tracking system is used to ensure that the vehicle body 1 travels on the corresponding route. The line-tracking system includes two groups of magnetic navigation sensors, and the two groups of magnetic navigation sensors are respectively installed at the bottoms of the front and rear end faces of the vehicle body 1. The obstacle avoidance system is used to prevent the vehicle body 1 from touching obstacles. The obstacle avoidance system includes two groups of photoelectric sensors 11, and the two groups of photoelectric sensors 11 are respectively installed at the tops of the front and rear end faces of the vehicle body 1.

[0022] The above are only embodiments of the present invention, and common knowledge such as specific structures and characteristics well known in the art are not described in detail herein. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application shall be subject to the content of its claims, and the specific implementation manners described in the specification can be used to interpret the content of the claims.

Claims

1. An AGV for doffing environment, characterized in that: It includes a vehicle body, a drive system, a line-tracking system, and an obstacle avoidance system. The drive system is used to drive the vehicle body and reduce the vibration of the vehicle body. The drive system consists of two suspension systems, and the two suspension systems are respectively located on the front and rear sides of the vehicle body. The suspension system is an independent suspension; each suspension system includes a suspension mounting plate, a swing arm hinge seat, and swing arms, an independent support device, an independent support upper stop plate, and a drive train system, each of which is provided in two groups. The swing arm is sequentially divided into a first swing block, a transition block, and a second swing block. The transition block is a trapezoid with a shorter inner side and a longer outer side. The short side of the transition block is located on the side close to the swing arm hinge seat, and the long side of the transition block is located on the side close to the drive train system; the suspension mounting plate is installed under the vehicle body to support the weight of the vehicle body; the swing arm hinge seat is fixed at the center of the suspension mounting plate; two groups of independent support upper stop plates are fixed on both sides of the suspension mounting plate. The two swing arms are respectively located on both sides of the swing arm hinge seat, and the first swing blocks are respectively hinged to the swing arm hinge seat; between the second swing block and the independent support upper stop plate of each group, they are connected by an independent support device, and a shock absorber is provided on the independent support device; the drive train system includes two wheels and two corresponding drive parts. The two wheels are respectively located on both sides of the suspension mounting plate. An axle is fixed on each wheel, and the two drive parts are installed on the side edges of the two swing arms; the trapezoidal structure of the transition block leaves space for installing the drive part, making the structure compact; each drive part includes a servo motor and a reducer. The servo motor is connected to the reducer, and the output end of the reducer is connected to the axle through a synchronous belt; the line-tracking system is used to ensure that the vehicle body travels on the corresponding route, and the obstacle avoidance system is used to prevent the vehicle body from touching obstacles.

2. The AGV for a doffing environment according to claim 1, wherein: The line-tracking system includes two groups of magnetic navigation sensors, and the two groups of magnetic navigation sensors are respectively installed at the bottoms of the front and rear end faces of the vehicle body.

3. An AGV for doffing environment according to claim 1, characterized in that: The obstacle avoidance system includes two groups of photoelectric sensors, and the two groups of photoelectric sensors are respectively installed at the tops of the front and rear end faces of the vehicle body.

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